add_executable(cloud_node cloud_node.cc convert.cc pointcloudXYZIR.cc pointcloudXYZIRADT.cc func.cc)
add_dependencies(cloud_node ${${PROJECT_NAME}_EXPORTED_TARGETS})
target_link_libraries(cloud_node velodyne_rawdata
                      ${catkin_LIBRARIES} ${YAML_CPP_LIBRARIES} ${OpenCV_LIBS})
install(TARGETS cloud_node
        RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

add_library(cloud_nodelet cloud_nodelet.cc convert.cc pointcloudXYZIR.cc pointcloudXYZIRADT.cc func.cc)
add_dependencies(cloud_nodelet ${${PROJECT_NAME}_EXPORTED_TARGETS})
target_link_libraries(cloud_nodelet velodyne_rawdata
                      ${catkin_LIBRARIES} ${YAML_CPP_LIBRARIES} ${OpenCV_LIBS})
install(TARGETS cloud_nodelet
        RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})

add_executable(interpolate_node interpolate_node.cc interpolate.cc pointcloudXYZIR.cc pointcloudXYZIRADT.cc func.cc)
add_dependencies(interpolate_node ${${PROJECT_NAME}_EXPORTED_TARGETS})
target_link_libraries(interpolate_node
                      ${catkin_LIBRARIES} ${YAML_CPP_LIBRARIES} ${OpenCV_LIBS})
install(TARGETS interpolate_node
        RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

add_library(interpolate_nodelet interpolate_nodelet.cc interpolate.cc pointcloudXYZIR.cc pointcloudXYZIRADT.cc func.cc)
add_dependencies(interpolate_nodelet ${${PROJECT_NAME}_EXPORTED_TARGETS})
target_link_libraries(interpolate_nodelet
                      ${catkin_LIBRARIES} ${YAML_CPP_LIBRARIES} ${OpenCV_LIBS})
install(TARGETS interpolate_nodelet
        RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})

add_executable(ringcolors_node ringcolors_node.cc colors.cc)
target_link_libraries(ringcolors_node
                      ${catkin_LIBRARIES} ${YAML_CPP_LIBRARIES})
install(TARGETS ringcolors_node
        RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

add_library(ringcolors_nodelet ringcolors_nodelet.cc colors.cc)
target_link_libraries(ringcolors_nodelet
                      ${catkin_LIBRARIES} ${YAML_CPP_LIBRARIES})
install(TARGETS ringcolors_nodelet
        RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})

add_executable(transform_node transform_node.cc transform.cc pointcloudXYZIR.cc)
add_dependencies(transform_node ${${PROJECT_NAME}_EXPORTED_TARGETS})
target_link_libraries(transform_node velodyne_rawdata
                      ${catkin_LIBRARIES} ${YAML_CPP_LIBRARIES})
install(TARGETS transform_node
        RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})

add_library(transform_nodelet transform_nodelet.cc transform.cc pointcloudXYZIR.cc)
add_dependencies(transform_nodelet ${${PROJECT_NAME}_EXPORTED_TARGETS})
target_link_libraries(transform_nodelet velodyne_rawdata
                      ${catkin_LIBRARIES} ${YAML_CPP_LIBRARIES})
install(TARGETS transform_nodelet
        RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
        ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
        LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION})
